xinjjj commited on
Commit
f2658d1
·
verified ·
1 Parent(s): f3f98ec

Add asset desktop_supplies/office_stationery/5e2faec868e05112a81b09dae7d3f2b2

Browse files
.gitattributes CHANGED
@@ -6346,3 +6346,4 @@ dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/affo
6346
  dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6347
  dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6348
  dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6346
  dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6347
  dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6348
  dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6349
+ dataset/desktop_supplies/office_stationery/5e2faec868e05112a81b09dae7d3f2b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/5e2faec868e05112a81b09dae7d3f2b2/affordance/affordance_annot.json ADDED
@@ -0,0 +1,522 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "front/back cover surface",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the notebook by clamping the broad cover faces to pick it up",
10
+ "confidence": 0.89
11
+ },
12
+ {
13
+ "scenario": "hold the cover surface to stabilize the notebook during repositioning",
14
+ "confidence": 0.84
15
+ },
16
+ {
17
+ "scenario": "support the notebook against the cover while opening or closing it",
18
+ "confidence": 0.77
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the pages",
23
+ "protect the contents",
24
+ "provide a rigid exterior surface",
25
+ "support opening and closing",
26
+ "provide writing support"
27
+ ],
28
+ "semantic_description": "Large off-white to light beige rectangular cover panel with a smooth matte finish, plain unmarked appearance, and slightly rounded corners forming the main exterior faces of the notebook.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9808048605918884,
33
+ "position": [
34
+ -0.1205225600861013,
35
+ -0.040749818057520315,
36
+ 0.00042307709372835234
37
+ ],
38
+ "orientation": {
39
+ "w": 0.018242019693941798,
40
+ "xyz": [
41
+ -0.705229771006828,
42
+ -0.004195524878044199,
43
+ -0.708731681508693
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.980292022228241,
49
+ "position": [
50
+ -0.11694105854257941,
51
+ 0.033439599006669596,
52
+ -0.000839963809994515
53
+ ],
54
+ "orientation": {
55
+ "w": 0.003359236306455889,
56
+ "xyz": [
57
+ 0.7028162768296038,
58
+ -0.006297613612636588,
59
+ 0.7113356005554603
60
+ ]
61
+ }
62
+ },
63
+ "grasp_3": {
64
+ "confidence": 0.9799270629882812,
65
+ "position": [
66
+ -4.948209971189499e-05,
67
+ -0.13451095295022242,
68
+ 0.0015123566627153195
69
+ ],
70
+ "orientation": {
71
+ "w": 0.501902859939808,
72
+ "xyz": [
73
+ -0.5086783944614526,
74
+ -0.49191931067166494,
75
+ -0.4973481697771435
76
+ ]
77
+ }
78
+ },
79
+ "grasp_5": {
80
+ "confidence": 0.9794251322746277,
81
+ "position": [
82
+ -0.12261318555101752,
83
+ -0.035214848787290975,
84
+ -0.0014813040834269486
85
+ ],
86
+ "orientation": {
87
+ "w": 0.01352511739269543,
88
+ "xyz": [
89
+ -0.7086638568383605,
90
+ 0.0025720886960888256,
91
+ -0.7054119318314885
92
+ ]
93
+ }
94
+ },
95
+ "grasp_7": {
96
+ "confidence": 0.9792314767837524,
97
+ "position": [
98
+ 0.009924072306603193,
99
+ -0.13488673043320887,
100
+ -0.002695318682526704
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5003186286563749,
104
+ "xyz": [
105
+ -0.5050284373269862,
106
+ 0.49059309258017036,
107
+ 0.5039305158681018
108
+ ]
109
+ }
110
+ },
111
+ "grasp_11": {
112
+ "confidence": 0.9790103435516357,
113
+ "position": [
114
+ 0.0015545168425887823,
115
+ -0.13426413011620753,
116
+ -0.0029912827521911822
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5004706290128497,
120
+ "xyz": [
121
+ -0.5019876446109585,
122
+ 0.49700288181485375,
123
+ 0.5005254135617444
124
+ ]
125
+ }
126
+ },
127
+ "grasp_12": {
128
+ "confidence": 0.978980302810669,
129
+ "position": [
130
+ -0.11511983862146735,
131
+ 0.025588223739759997,
132
+ -0.0005730537450290285
133
+ ],
134
+ "orientation": {
135
+ "w": 0.001053647160389523,
136
+ "xyz": [
137
+ -0.7049672959389602,
138
+ -0.0048000808951201845,
139
+ -0.7092227863708074
140
+ ]
141
+ }
142
+ },
143
+ "grasp_14": {
144
+ "confidence": 0.9789395332336426,
145
+ "position": [
146
+ 0.037303043995052576,
147
+ -0.13139692318509333,
148
+ -0.004405020874401089
149
+ ],
150
+ "orientation": {
151
+ "w": 0.6026906438896833,
152
+ "xyz": [
153
+ -0.3723483735816714,
154
+ -0.5810182720013394,
155
+ -0.40067248977125924
156
+ ]
157
+ }
158
+ },
159
+ "grasp_15": {
160
+ "confidence": 0.9788100719451904,
161
+ "position": [
162
+ -0.122494304087013,
163
+ -0.030690109328133985,
164
+ -0.002748452032392379
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7062860344449652,
168
+ "xyz": [
169
+ 0.000710068488715095,
170
+ 0.7077879170578496,
171
+ -0.013992777338937308
172
+ ]
173
+ }
174
+ }
175
+ }
176
+ },
177
+ {
178
+ "part_name": "page block edge",
179
+ "mask_color": "Blue",
180
+ "graspable": true,
181
+ "grasp_scenarios": [
182
+ {
183
+ "scenario": "grasp the notebook along the exposed page block edge to lift it",
184
+ "confidence": 0.82
185
+ },
186
+ {
187
+ "scenario": "clamp the page block edge to stabilize the notebook during handling",
188
+ "confidence": 0.78
189
+ },
190
+ {
191
+ "scenario": "pinch near the page edges to separate or align pages",
192
+ "confidence": 0.58
193
+ }
194
+ ],
195
+ "functional_labels": [
196
+ "provide writable sheets",
197
+ "store notes",
198
+ "form the paper thickness of the notebook",
199
+ "support page turning"
200
+ ],
201
+ "semantic_description": "Exposed stack of white paper page edges with a matte layered texture, visible as a narrow band around the sides opposite the covers.",
202
+ "id": 2,
203
+ "grasp_group": {
204
+ "grasp_42": {
205
+ "confidence": 0.9721657037734985,
206
+ "position": [
207
+ 0.02294349716976285,
208
+ 0.1349924318783451,
209
+ 0.002805747186357621
210
+ ],
211
+ "orientation": {
212
+ "w": 0.4833625686028604,
213
+ "xyz": [
214
+ 0.508077792962557,
215
+ 0.509304467407371,
216
+ -0.4988251628084093
217
+ ]
218
+ }
219
+ },
220
+ "grasp_43": {
221
+ "confidence": 0.971481442451477,
222
+ "position": [
223
+ 0.023763588164001703,
224
+ 0.13464596497942694,
225
+ 0.0025394969634362496
226
+ ],
227
+ "orientation": {
228
+ "w": 0.48707262293241727,
229
+ "xyz": [
230
+ 0.506750169306983,
231
+ 0.5098624708461227,
232
+ -0.495988696161279
233
+ ]
234
+ }
235
+ },
236
+ "grasp_44": {
237
+ "confidence": 0.9708884358406067,
238
+ "position": [
239
+ 0.03367898287251592,
240
+ 0.13271703946520574,
241
+ -0.0008288001627079211
242
+ ],
243
+ "orientation": {
244
+ "w": 0.4691130461157443,
245
+ "xyz": [
246
+ 0.5306295623013733,
247
+ 0.47293471690030986,
248
+ -0.5241163717403646
249
+ ]
250
+ }
251
+ },
252
+ "grasp_46": {
253
+ "confidence": 0.9702202677726746,
254
+ "position": [
255
+ 0.024735324550420046,
256
+ 0.13258666920592077,
257
+ 0.0017660980593063869
258
+ ],
259
+ "orientation": {
260
+ "w": 0.4862025074827772,
261
+ "xyz": [
262
+ 0.5129361934156271,
263
+ 0.5029803183481485,
264
+ -0.4975081733561181
265
+ ]
266
+ }
267
+ },
268
+ "grasp_53": {
269
+ "confidence": 0.9668188691139221,
270
+ "position": [
271
+ 0.02374625252559781,
272
+ -0.12902014327119105,
273
+ -0.0011381705044186674
274
+ ],
275
+ "orientation": {
276
+ "w": 0.49757738526841827,
277
+ "xyz": [
278
+ -0.5046651936027349,
279
+ 0.4907198856898689,
280
+ 0.5068764956317069
281
+ ]
282
+ }
283
+ },
284
+ "grasp_54": {
285
+ "confidence": 0.9667180776596069,
286
+ "position": [
287
+ 0.025006421376019716,
288
+ -0.12919254970620386,
289
+ -0.0006081485407776199
290
+ ],
291
+ "orientation": {
292
+ "w": 0.49501200858783995,
293
+ "xyz": [
294
+ -0.5068553000360836,
295
+ 0.48831511086343016,
296
+ 0.5095185655906959
297
+ ]
298
+ }
299
+ },
300
+ "grasp_57": {
301
+ "confidence": 0.9642660021781921,
302
+ "position": [
303
+ 0.024706550408154726,
304
+ -0.13918199014733545,
305
+ -0.002483244192262646
306
+ ],
307
+ "orientation": {
308
+ "w": 0.4987974565916664,
309
+ "xyz": [
310
+ -0.4991211004436806,
311
+ 0.49313502787474395,
312
+ 0.5088192888173065
313
+ ]
314
+ }
315
+ }
316
+ }
317
+ },
318
+ {
319
+ "part_name": "spine binding",
320
+ "mask_color": "Green",
321
+ "graspable": true,
322
+ "grasp_scenarios": [
323
+ {
324
+ "scenario": "grasp the narrow spine area to orient the notebook from the side",
325
+ "confidence": 0.74
326
+ },
327
+ {
328
+ "scenario": "hold the spine while pulling the notebook from a tight space",
329
+ "confidence": 0.78
330
+ },
331
+ {
332
+ "scenario": "stabilize the notebook by clamping near the bound edge during opening",
333
+ "confidence": 0.7
334
+ }
335
+ ],
336
+ "functional_labels": [
337
+ "bind the pages together",
338
+ "connect the covers to the page block",
339
+ "provide structural reinforcement",
340
+ "define notebook orientation"
341
+ ],
342
+ "semantic_description": "Narrow bound strip running along one long edge of the notebook, off-white to light gray with visible darker binding lines and a slightly raised banded appearance.",
343
+ "id": 1,
344
+ "grasp_group": {
345
+ "grasp_23": {
346
+ "confidence": 0.9697946310043335,
347
+ "position": [
348
+ 0.07848832616582513,
349
+ 0.12425516921211965,
350
+ 0.017944034516403917
351
+ ],
352
+ "orientation": {
353
+ "w": 0.34698040239672834,
354
+ "xyz": [
355
+ 0.662239778411713,
356
+ 0.35334938417822725,
357
+ -0.5623053342648258
358
+ ]
359
+ }
360
+ },
361
+ "grasp_26": {
362
+ "confidence": 0.9677486419677734,
363
+ "position": [
364
+ 0.03471207479014993,
365
+ 0.13103349137236364,
366
+ -4.033886216348037e-05
367
+ ],
368
+ "orientation": {
369
+ "w": 0.4742847367690236,
370
+ "xyz": [
371
+ 0.519999639449354,
372
+ 0.488586400552966,
373
+ -0.5156914703921099
374
+ ]
375
+ }
376
+ },
377
+ "grasp_27": {
378
+ "confidence": 0.9670467376708984,
379
+ "position": [
380
+ 0.07534427056089044,
381
+ 0.1272271536581684,
382
+ 0.0006074986085877754
383
+ ],
384
+ "orientation": {
385
+ "w": 0.361034044124746,
386
+ "xyz": [
387
+ 0.6050832624755625,
388
+ 0.36755274921526593,
389
+ -0.6069873483023847
390
+ ]
391
+ }
392
+ },
393
+ "grasp_28": {
394
+ "confidence": 0.9666798710823059,
395
+ "position": [
396
+ 0.07693941751495004,
397
+ 0.12504928934504278,
398
+ -0.0002613160540931858
399
+ ],
400
+ "orientation": {
401
+ "w": 0.3586854915292322,
402
+ "xyz": [
403
+ 0.6009972699111025,
404
+ 0.3683253279117439,
405
+ -0.6119505311253035
406
+ ]
407
+ }
408
+ },
409
+ "grasp_29": {
410
+ "confidence": 0.9665091037750244,
411
+ "position": [
412
+ 0.03648469829931855,
413
+ 0.12923673915793188,
414
+ 0.002278320120240096
415
+ ],
416
+ "orientation": {
417
+ "w": 0.4688168165446984,
418
+ "xyz": [
419
+ 0.5324271601365068,
420
+ 0.48131812784043737,
421
+ -0.5148446090676732
422
+ ]
423
+ }
424
+ },
425
+ "grasp_30": {
426
+ "confidence": 0.9660983681678772,
427
+ "position": [
428
+ 0.07676654169335961,
429
+ 0.12218079346348532,
430
+ -0.0027251815408817492
431
+ ],
432
+ "orientation": {
433
+ "w": 0.35887673505832746,
434
+ "xyz": [
435
+ 0.5981003030737,
436
+ 0.3687657298785064,
437
+ -0.6144065046564822
438
+ ]
439
+ }
440
+ },
441
+ "grasp_32": {
442
+ "confidence": 0.965369462966919,
443
+ "position": [
444
+ 0.07744075218215585,
445
+ 0.12054416167666204,
446
+ -0.0063363906447193585
447
+ ],
448
+ "orientation": {
449
+ "w": 0.35237540102341547,
450
+ "xyz": [
451
+ 0.5820831927452091,
452
+ 0.36945588015136654,
453
+ -0.6328610322169553
454
+ ]
455
+ }
456
+ },
457
+ "grasp_33": {
458
+ "confidence": 0.9650903940200806,
459
+ "position": [
460
+ 0.0779078365303576,
461
+ 0.11822689700056799,
462
+ -0.0008312235222547315
463
+ ],
464
+ "orientation": {
465
+ "w": 0.3619662417208763,
466
+ "xyz": [
467
+ 0.6071821412339532,
468
+ 0.36979100145664157,
469
+ -0.6029634337691714
470
+ ]
471
+ }
472
+ },
473
+ "grasp_38": {
474
+ "confidence": 0.9622710943222046,
475
+ "position": [
476
+ 0.07831365475431085,
477
+ 0.11415843295981176,
478
+ -0.0019393296897760592
479
+ ],
480
+ "orientation": {
481
+ "w": 0.3597052968931749,
482
+ "xyz": [
483
+ 0.5997675479351778,
484
+ 0.36842711593948985,
485
+ -0.6124968963768932
486
+ ]
487
+ }
488
+ }
489
+ }
490
+ },
491
+ {
492
+ "part_name": "page block corner",
493
+ "mask_color": "Orange",
494
+ "graspable": false,
495
+ "grasp_scenarios": [],
496
+ "functional_labels": [
497
+ "form the page-block boundary",
498
+ "define a corner of the page stack"
499
+ ],
500
+ "semantic_description": "Small exposed white paper-edge corner segment with a layered matte paper appearance at one outer corner of the notebook.",
501
+ "id": 4,
502
+ "grasp_group": {}
503
+ },
504
+ {
505
+ "part_name": "cover corner edge",
506
+ "mask_color": "Yellow",
507
+ "graspable": false,
508
+ "grasp_scenarios": [],
509
+ "functional_labels": [
510
+ "form the cover boundary",
511
+ "define the cover corner shape"
512
+ ],
513
+ "semantic_description": "Small off-white corner strip at the outer edge of the cover, smooth and matte, visible only as a thin corner detail in angled views.",
514
+ "id": 3,
515
+ "grasp_group": {}
516
+ }
517
+ ],
518
+ "quality_check": {
519
+ "success": false,
520
+ "message": "Several mask-part identities are swapped; page edge and spine descriptions do not match segmented colors or geometry."
521
+ }
522
+ }
dataset/desktop_supplies/office_stationery/5e2faec868e05112a81b09dae7d3f2b2/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cb724c516052bdaa6acfda37ccef2a9352e2fe085d56405b56d3c46cf0ef84e3
3
+ size 3739232